diff --git a/tdmpc2/tdmpc2.py b/tdmpc2/tdmpc2.py
index 12c2832..e4f56bf 100755
--- a/tdmpc2/tdmpc2.py
+++ b/tdmpc2/tdmpc2.py
@@ -83,7 +83,22 @@ class TDMPC2(torch.nn.Module):
 			fp (str or dict): Filepath or state dict to load.
 		"""
 		state_dict = fp if isinstance(fp, dict) else torch.load(fp)
-		self.model.load_state_dict(state_dict["model"])
+		state_dict = state_dict["model"] if "model" in state_dict else state_dict
+		try: # Checkpoints created AFTER Nov 10 update
+			self.model.load_state_dict(state_dict)
+		except: # Backwards compatibility
+			def _get_submodule(state_dict, key):
+				return {k.replace(f"_{key}.", ""): v for k, v in state_dict.items() if k.startswith(f"_{key}.")}
+			for key in ["encoder", "dynamics", "reward", "pi"]:
+				submodule_state_dict = _get_submodule(state_dict, key)
+				getattr(self.model, f"_{key}").load_state_dict(submodule_state_dict)
+			# Q-function requires special handling
+			Qs_state_dict = _get_submodule(state_dict, "Qs")
+			# TODO: figure out how to load Q-function state_dict from old checkpoints
+			raise NotImplementedError("Backwards compatibility is currently broken for loading of old checkpoints, " \
+							 "please revert to a previous checkpoint, e.g. 88095e7899497cf7a1da36fb6bbb6bc7b5370d53 " \
+							 "until a fix is issued.")
+		self.model.load_state_dict(state_dict)
 
 	@torch.no_grad()
 	def act(self, obs, t0=False, eval_mode=False, task=None):